AGV driving wheel assembly with active suspension damping structure

Abstract

The AGV driving wheel assembly with the active suspension damping structure comprises a positioning seat, dampers are installed at the corner positions of the bottom end of the positioning seat, a movable seat is fixedly installed at the bottom ends of the multiple dampers, and an annular seat body is rotatably installed at the center position in the movable seat; the top end of the annular seat body extends out of the movable seat, the bottom end of the annular seat body extends out of the movable seat and is provided with a first driven gear, one side of the top end of the movable seat is provided with a second motor, the bottom end of the second motor penetrates through the movable seat and is provided with a first driving gear, and the first driving gear is meshed with the first driven gear. According to the driving wheel assembly, the angle of the rolling wheel can be horizontally adjusted so that the AGV can easily conduct steering moving operation, the convenience of the driving wheel assembly in use can be improved, the rotating speed of the rolling wheel can be accurately controlled so that the flexibility of the driving wheel assembly in use can be improved, and the stability of the AGV in use of the driving wheel assembly is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic guided vehicles, in particular to an AGV driving wheel assembly with active suspension damping structure. BACKGROUND

[0002] With the rapid development of industrial automation and intelligent logistics, automatic guided vehicles have become the core handling equipment in modern factories, warehouses, ports and other scenes, and their application scenarios cover a wide range from light load precision electronic component transportation to heavy load container loading and unloading, which poses multiple challenges to the performance of driving wheel assemblies. The traditional rigid driving wheel assembly lacks buffering, and vibration is directly transmitted to the vehicle body, causing goods displacement, precision instrument damage or AGV navigation system misalignment. In order to reduce such phenomena, it is of great practical significance to develop an AGV driving wheel assembly with active suspension damping structure.

[0003] Referring to the AGV driving wheel assembly and AGV with publication number CN217705410U, it includes a driving motor, a wheel body, an upper connecting plate, a damping spring, a bolt, a lower connecting plate, a transmission gear, a steering motor, a wheel carrier and a wheel carrier mounting plate. The output shaft of the steering motor is provided with a driving gear, the driving gear is in transmission connection with the transmission gear, the driving motor is horizontally arranged on the wheel carrier, the output shaft of the driving motor is fixedly connected with one end of the shaft of the wheel body, and the wheel body is driven to rotate. Through the AGV driving wheel assembly, the spring has a certain compression amount during use. When passing through a road section with a slope, the spring provides elastic force to make the wheel body always adhere to the ground, avoid the wheel body from being suspended, and has good use effect. According to the above, although the driving wheel assembly can be well applied, it is usually inconvenient to horizontally adjust the angle of the roller, and thus it is not easy for the AGV to move in the direction of the steering, which often troubles people. SUMMARY

[0004] The present application aims to provide an AGV driving wheel assembly with active suspension damping structure to solve the problem that the driving wheel assembly can be well applied, but it is usually inconvenient to horizontally adjust the angle of the roller, and thus it is not easy for the AGV to move in the direction of the steering.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an AGV drive wheel assembly with an active suspension and shock absorption structure, comprising a positioning seat, dampers installed at the corner positions of the bottom end of the positioning seat, movable seats fixedly installed at the bottom ends of several dampers, an annular seat rotatably installed at the center position inside the movable seat, the top end of the annular seat extending to the outside of the movable seat, the bottom end of the annular seat extending to the outside of the movable seat and equipped with a first driven gear, a second motor installed on one side of the top end of the movable seat, the bottom end of the second motor penetrating the movable seat and equipped with a first driving gear, the first driving gear meshing with the first driven gear, lower seats provided on both sides of the bottom end of the first driven gear, a first linkage shaft rotatably installed on the inner wall between the lower seats, and rollers fixedly installed on the outer wall of the first linkage shaft.

[0006] Preferably, the top of the movable seat on the outer side of the annular seat is provided with several columns, and a mounting plate is fixedly installed on the top of the several columns. A first motor is installed at the center of the top of the mounting plate, so as to drive the active bevel gear to rotate.

[0007] Preferably, upper seats are fixed on both sides of the top of the annular seat. A second linkage shaft is rotatably mounted on the inner wall between the upper seats. A driven bevel gear is fixedly mounted on the outer wall of one side of the second linkage shaft. A second driving gear is fixedly mounted on the outer wall of the other side of the second linkage shaft. A second driven gear is fixedly mounted on the outer wall of the first linkage shaft on one side of the roller. The second driven gear and the second driving gear mesh with each other. Through the second driven gear and the second driving gear, the roller is driven to rotate via the second driven gear and the first linkage shaft when the second driving gear rotates.

[0008] Preferably, the bottom end of the first motor passes through the mounting plate and is equipped with an active bevel tooth. The active bevel tooth meshes with the driven bevel tooth, so that the active bevel tooth drives the driven bevel tooth to rotate when it rotates.

[0009] Preferably, piston cylinders are fixed on both sides of the bottom end of the positioning seat, an electric push rod is installed at the center of the top of the piston cylinder, an upper piston plate is installed at the bottom end of the electric push rod, a spring is installed at the bottom end of the upper piston plate, and a lower piston plate is installed at the bottom end of the spring. The spring is designed to work with the damper to buffer and reduce the shock of the AGV.

[0010] Preferably, a piston rod is fixed at the center of the bottom end of the lower piston plate, the bottom end of the piston rod extends to the outside of the piston cylinder and connects to the top of the movable seat, and a distance sensor is installed at the bottom of the piston cylinder on one side of the piston rod. The piston rod is designed so that the vibration force is transmitted to the lower piston plate when the roller enters the raised or recessed ground.

[0011] Compared with the prior art, the beneficial effects of the present invention are: the AGV drive wheel assembly with active suspension and shock absorption structure can not only adjust the angle of the rollers horizontally to facilitate the AGV to perform steering and movement operations and improve the convenience of using the drive wheel assembly, but also can accurately control the roller speed to improve the flexibility of using the drive wheel assembly, and ensure the stability of the AGV when using the drive wheel assembly. The first drive gear is driven to rotate by the second motor. Since the first drive gear and the first driven gear mesh with each other, and the diameter of the first drive gear is smaller than the diameter of the first driven gear, the first drive gear drives the first driven gear to rotate, and the ring seat rotates inside the movable seat. At this time, the first driven gear drives the roller to rotate synchronously, and the angle of the roller can be adjusted horizontally to facilitate the AGV to perform steering and movement operations, thereby improving the convenience of using the drive wheel assembly. The first motor drives the active bevel gear to rotate, which in turn drives the second active gear to rotate via the driven bevel gear and the second linkage shaft. The second active gear then drives the roller to rotate via the second driven gear and the first linkage shaft. This allows for precise control of the roller speed, meeting the needs of different working conditions and improving the flexibility of the drive wheel assembly in use. By setting a distance sensor to monitor the distance of the lower piston plate in real time, when the roller passes over a raised surface, the lower piston plate moves upward inside the piston cylinder. If the distance sensor detects that the lower piston plate is far away, the electric push rod immediately drives the upper piston plate to move downward accordingly, adjusting the lower piston plate to the original area at the lower end of the piston cylinder. Conversely, when the roller passes over a recessed surface, the lower piston plate moves downward inside the piston cylinder. If the distance sensor detects that the lower piston plate is close, the electric push rod immediately drives the upper piston plate to move upward, adjusting the lower piston plate to the original area at the lower end of the piston cylinder. This active suspension and shock absorption operation ensures the stability of the AGV during the use of the drive wheel assembly. Attached Figure Description

[0012] Figure 1 This is a top view of the structure of the present invention; Figure 2 This is a frontal cross-sectional view of the present invention; Figure 3 This is a side view of the movable seat structure of the present invention; Figure 4For the present invention Figure 2 Enlarged structural diagram at point A in the middle.

[0013] In the diagram: 1. Positioning seat; 2. Movable seat; 3. Piston cylinder; 4. Piston rod; 5. Damper; 6. First motor; 7. Second motor; 8. Column; 9. Mounting plate; 10. Roller; 11. Lower side seat; 12. First linkage shaft; 13. Second driven gear; 14. First driving gear; 15. Annular seat; 16. First driven gear; 17. Upper side seat; 18. Second linkage shaft; 19. Second driving gear; 20. Driven bevel gear; 21. Driving bevel gear; 22. Electric push rod; 23. Upper piston plate; 24. Spring; 25. Lower piston plate; 26. Distance sensor. Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0015] Please see Figures 1-4 An embodiment of the present invention provides an AGV drive wheel assembly with an active suspension and shock absorption structure, including a positioning seat 1, piston cylinders 3 fixed on both sides of the bottom end of the positioning seat 1, an electric push rod 22 installed at the center of the top of the piston cylinder 3, an upper piston plate 23 installed at the bottom end of the electric push rod 22, a spring 24 installed at the bottom end of the upper piston plate 23, and a lower piston plate 25 installed at the bottom end of the spring 24. In use, the spring 24 is set to work with the damper 5 to buffer and reduce the shock of the AGV. A piston rod 4 is fixed at the center of the bottom end of the lower piston plate 25. The bottom end of the piston rod 4 extends to the outside of the piston cylinder 3 and is connected to the top of the movable seat 2. A distance sensor 26 is installed at the bottom of the piston cylinder 3 on one side of the piston rod 4. In use, the piston rod 4 is designed so that when the roller 10 enters a raised or recessed ground, the vibration force is transmitted to the lower piston plate 25. Dampers 5 are installed at the corners of the bottom of the positioning seat 1. Movable seats 2 are fixedly installed at the bottom of several dampers 5. A ring seat 15 is rotatably installed at the center of the interior of the movable seat 2. The top of the ring seat 15 extends to the outside of the movable seat 2. Several columns 8 are provided at the top of the movable seat 2 outside the ring seat 15. A mounting plate 9 is fixedly installed at the top of the several columns 8. A first motor 6 is installed at the center of the top of the mounting plate 9. In use, the first motor 6 is configured to drive the active bevel gear 21 to rotate; Both sides of the top of the annular seat 15 are fixed with upper side seats 17. A second linkage shaft 18 is rotatably mounted on the inner wall between the upper side seats 17. A driven bevel gear 20 is fixedly mounted on the outer wall of one side of the second linkage shaft 18. A second driving gear 19 is fixedly mounted on the outer wall of the other side of the second linkage shaft 18. A second driven gear 13 is fixedly mounted on the outer wall of the first linkage shaft 12 on one side of the roller 10. The second driven gear 13 and the second driving gear 19 mesh with each other. In use, the second driven gear 13 and the second driving gear 19 are connected so that when the second driving gear 19 rotates, it drives the roller 10 to rotate via the second driven gear 13 and the first linkage shaft 12. The bottom end of the first motor 6 passes through the mounting plate 9 and is equipped with an active bevel tooth 21, which meshes with the driven bevel tooth 20. In use, the active bevel tooth 21 and the driven bevel tooth 20 mesh with each other so that the active bevel tooth 21 drives the driven bevel tooth 20 to rotate when it rotates. The bottom end of the annular seat 15 extends to the outside of the movable seat 2 and is equipped with a first driven gear 16. A second motor 7 is installed on one side of the top of the movable seat 2. The bottom end of the second motor 7 passes through the movable seat 2 and is equipped with a first driving gear 14. The first driving gear 14 and the first driven gear 16 mesh with each other. Both sides of the bottom end of the first driven gear 16 are provided with lower seats 11. A first linkage shaft 12 is rotatably installed on the inner wall between the lower seats 11. A roller 10 is fixedly installed on the outer wall of the first linkage shaft 12.

[0016] In this embodiment, the positioning seat 1 is first fixed inside the AGV, and the movable seat 2 is movably positioned at the bottom of the AGV to place the drive wheel assembly in the corner area at the bottom of the AGV. A distance sensor 26 is used to monitor the distance of the lower piston plate 25 in real time. When the roller 10 passes over a raised surface, the lower piston plate 25 moves upward inside the piston cylinder 3. When the distance sensor 26 detects a greater distance to the lower piston plate 25, the electric push rod 22 immediately drives the upper piston plate 23 to move downward accordingly, adjusting the lower piston plate 25 to its original position at the lower end of the piston cylinder 3. Conversely, when the roller 10 passes over a recessed surface, the lower piston plate 25 moves downward inside the piston cylinder 3. When the distance sensor 26 detects a closer distance to the lower piston plate 25, the electric push rod 22 immediately drives the upper piston plate 23 to move upward, adjusting the lower piston plate 25 to its original position at the lower end of the piston cylinder 3. This actively suspends and dampens the AGV, ensuring smooth movement. To ensure stability, the first motor 6 drives the active bevel gear 21 to rotate, which in turn drives the second active gear 19 to rotate via the driven bevel gear 20 and the second linkage shaft 18. The second active gear 19 then drives the roller 10 to rotate via the second driven gear 13 and the first linkage shaft 12. This allows for precise control of the roller 10's rotation speed, facilitating the AGV's movement in different environments. Finally, the second motor 7 drives the first active gear 14 to rotate, which in turn drives the first driven gear 16 to rotate. This causes the annular seat 15 to rotate inside the movable seat 2. At this time, the first driven gear 16 drives the roller 10 to rotate synchronously, allowing for horizontal adjustment of the roller 10's angle for easy steering of the AGV. This drive wheel assembly is mounted on the AGV and electrically connected to the AGV's control terminal, enabling control of the drive wheel assembly through this terminal, thus completing the use of the drive wheel assembly.

Claims

1. An AGV drive wheel assembly with an active suspension and shock absorption structure, characterized in that: The system includes a positioning seat (1), with dampers (5) installed at the corners of the bottom of the positioning seat (1). Movable seats (2) are fixedly installed at the bottom of several dampers (5). An annular seat (15) is rotatably installed at the center of the interior of the movable seat (2). The top of the annular seat (15) extends to the outside of the movable seat (2), and the bottom of the annular seat (15) extends to the outside of the movable seat (2) and is equipped with a first driven gear (16). A second motor (7) is installed on one side of the top of the movable seat (2). The bottom of the second motor (7) passes through the movable seat (2) and is equipped with a first driving gear (14). The first driving gear (14) meshes with the first driven gear (16). Lower seats (11) are provided on both sides of the bottom of the first driven gear (16). A first linkage shaft (12) is rotatably installed on the inner wall between the lower seats (11). A roller (10) is fixedly installed on the outer wall of the first linkage shaft (12).

2. The AGV drive wheel assembly with an active suspension and shock absorption structure according to claim 1, characterized in that: The movable seat (2) on the outer side of the ring seat (15) is provided with several columns (8), and the top of the several columns (8) is fixedly installed with a mounting plate (9). The first motor (6) is installed at the center of the top of the mounting plate (9).

3. The AGV drive wheel assembly with an active suspension and shock absorption structure according to claim 1, characterized in that: Both sides of the top of the annular seat (15) are fixed with upper side seats (17). A second linkage shaft (18) is rotatably installed on the inner wall between the upper side seats (17). A driven bevel gear (20) is fixedly installed on the outer wall of one side of the second linkage shaft (18). A second driving gear (19) is fixedly installed on the outer wall of the other side of the second linkage shaft (18). A second driven gear (13) is fixedly installed on the outer wall of the first linkage shaft (12) on one side of the roller (10). The second driven gear (13) meshes with the second driving gear (19).

4. An AGV drive wheel assembly with an active suspension and shock absorption structure according to claim 2, characterized in that: The bottom end of the first motor (6) passes through the mounting plate (9) and is equipped with an active bevel tooth (21), which meshes with the driven bevel tooth (20).

5. An AGV drive wheel assembly with an active suspension and shock absorption structure according to claim 1, characterized in that: Both sides of the bottom end of the positioning seat (1) are fixed with piston cylinders (3). An electric push rod (22) is installed at the center of the top of the piston cylinder (3). An upper piston plate (23) is installed at the bottom end of the electric push rod (22). A spring (24) is installed at the bottom end of the upper piston plate (23). A lower piston plate (25) is installed at the bottom end of the spring (24).

6. An AGV drive wheel assembly with an active suspension and shock absorption structure according to claim 5, characterized in that: A piston rod (4) is fixed at the center of the bottom end of the lower piston plate (25). The bottom end of the piston rod (4) extends to the outside of the piston cylinder (3) and is connected to the top of the movable seat (2). A distance sensor (26) is installed at the bottom of the piston cylinder (3) on one side of the piston rod (4).

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